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orb-slam3-acceleration-system-related-work icon orb-slam3-acceleration-system-related-work

本项目基于ZYNQ平台对ORB-Slam3前端中最耗时的特征提取进行加速，以实现无人机的实时定位。具体采用AR0144双目摄像头模组实时采集640*400的彩色图像，将图像灰度转换后送入FPGA加速模块，得到均匀化后的特征点与双目匹配特征点对，结合高精度IMU传感器ICM20602的数据，实时运行ORB-Slam3。

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